**Lectures**

Tu-Th, NEW TIME 1:30-3pm, 125 Steele

**Instructor**

Bill Dunbar, 3 Steele (Basement), x3366,

dunbar@cds.caltech.edu

Office hours: after classes
**Course Description**

Methods for analysis and design of nonlinear control systems emphasizing Lyapunov theory. Second order systems, direct and indirect method of Lyapunov, feedback linearization. Introduction to optimal control, optimization and receding horizon control, with emphasis on stability proofs for centralized and distributed implementations.

**Prerequisites**

Linear systems (CDS 201 is sufficient); Basic calculus, differential equations and linear algebra.

**Course Policy**

Refer to the syllabus.

**Course Textbook**

Nonlinear Systems (second edition) by Hassan K. Khalil. Prentice Hall, 1995. Order online: Amazon, Barnes & Noble.

NOTE: I will use 2nd edition, but 3rd is available. Feel free to buy either. There are obvious page and topic discrepancies between the two editions. However, the 3rd contains the 2nd (as a set), so as I am going by the 2nd, again, feel free to buy either.

**Homework Assignments**

Homework problems taken from 2nd edition. Problems for the second half of the quarter will be handed out in class.

**Software**

Matlab, available on CDS cluster. Online tutorials for Matlab are available at http://www.engin.umich.edu/group/ctm/basic/basic.html
http://www.cds.caltech.edu/~murray/notes/matlab-primer.ps